Communication Dans Un Congrès Année : 2020

Observer and first-order low-pass filter based attitude estimation for rigid bodies subject to external acceleration

Résumé

In this paper, we consider the problem of estimating the attitude of a rigid body who is subject to non-negligible external acceleration, based on the measurements provided by a classical IMU unit: gyroscope, accelerometer and magnometer. Two algorithms are proposed, based on the combination of a low-pass filter in the fixed inertial frame and an observer. The stability of the proposed schemes are proved, based on a Lyapunov approach. Simulations are provided in order to illustrate the performances of the proposed observers.

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hal-02276192 , version 1 (23-03-2020)

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Tristan Bonargent, Tomas Menard, Eric Pigeon, Olivier Gehan. Observer and first-order low-pass filter based attitude estimation for rigid bodies subject to external acceleration. 2019 IEEE 58th Conference on Decision and Control (CDC), Dec 2019, Nice, France. pp.629-634, ⟨10.1109/CDC40024.2019.9030202⟩. ⟨hal-02276192⟩
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